A tank bottom corrosion detection robot and detection method

Abstract

The present application discloses a tank bottom corrosion detection robot and a detection method, which relates to the field of tank detection technology. The tank bottom corrosion detection robot comprises: a motion module, a detection module and a control module, wherein the motion module and the detection module are both connected to the control module; the motion module is used to carry the detection module to move on the tank bottom; the detection module is used to determine the suspected defect area on the tank bottom through acoustic emission detection, and to perform ultrasonic scanning on the suspected area through ultrasonic detection; the control module is used to control the motion module to move to the suspected defect area after the detection module determines the suspected defect area, and locate the defect area according to the ultrasonic scanning result. The present application improves detection efficiency.

Description

Technical Field

[0001] The present application relates to the technical field of storage tank detection, and in particular to a storage tank bottom plate corrosion detection robot and detection method. Background Art

[0002] Countries around the world attach great importance to the service safety of large storage tanks. At present, most domestic and foreign countries adopt the method of regular tank opening inspection to ensure their safety. Some non-tank inspections are to place acoustic emission detection outside the tank for dynamic corrosion detection.

[0003] When opening the tank for inspection, visual inspection, wall thickness measurement and surface flaw detection methods are used for the tank wall and top plate, and magnetic leakage detection method is used for the tank bottom plate. This mode is costly, inefficient, time-consuming, highly polluting, and has poor timeliness, which seriously affects the operation and maintenance of the tank.

[0004] When acoustic emission testing is used for non-tank inspection, the acoustic emission probe is placed outside the tank and can only detect the corrosion of the bottom plate in the area near the tank wall. It is impossible to achieve full coverage of the tank bottom plate, which affects the detection efficiency. At the same time, due to the complexity of the sound propagation path, there is a problem of poor detection accuracy. Summary of the invention

[0005] The purpose of this application is to provide a tank bottom corrosion detection robot and detection method to improve detection efficiency.

[0006] To achieve the above objectives, this application provides the following solutions:

[0007] In the first aspect, the present application provides a tank bottom corrosion detection robot, comprising: a motion module, a detection module and a control module, wherein the motion module and the detection module are both connected to the control module; the motion module is used to carry the detection module to move on the tank bottom; the detection module is used to determine the suspected defect area on the tank bottom through acoustic emission detection, and to perform ultrasonic scanning on the suspected area through ultrasonic detection; the control module is used to control the motion module to move to the suspected defect area after the detection module determines the suspected defect area, and locate the defect area according to the ultrasonic scanning result; the detection module comprises an acoustic emission detection unit, an ultrasonic detection unit and a signal receiving component, the ultrasonic detection unit comprises an array-arranged ultrasonic probe, the acoustic emission detection unit comprises two or three acoustic emission probes, and each acoustic emission probe is set to the two ends of the ultrasonic detection unit; the signal receiving component is used to receive the ultrasonic signals received by each ultrasonic probe and the sound wave signal received by the acoustic emission probe.

[0008] Optionally, the control module further includes a positioning analysis unit, and the positioning analysis unit is used to determine the suspected defect area according to the time difference between the times when each acoustic emission probe receives the acoustic wave signal.

[0009] Optionally, when the acoustic emission detection unit includes two acoustic emission probes, the positioning analysis unit is used to determine the suspected defect area on the bottom plate of the tank by a dual-point positioning method based on the time difference between the two acoustic emission probes receiving the acoustic wave signals;

[0010] When the acoustic emission detection unit includes three acoustic emission probes, the positioning analysis unit is used to determine the suspected defect area on the bottom plate of the tank by a three-point positioning method based on the time difference of the three acoustic emission probes receiving the sound wave signals.

[0011] Optionally, when the acoustic emission detection unit includes two acoustic emission probes, the two acoustic emission probes are respectively a first acoustic emission probe and a second acoustic emission probe; the suspected defect area determined by the dual-point positioning method is the intersection area of ​​the first hyperbolic area and the second hyperbolic area; the first hyperbolic area is a hyperbolic area formed by a first distance difference range of acoustic wave signals received by the first acoustic emission probe and the second acoustic emission probe when the detection module is in the first position; the second hyperbolic area is a hyperbolic area formed by a second distance difference range of acoustic wave signals received by the first acoustic emission probe and the second acoustic emission probe when the detection module is in the second position; the first distance difference range is determined according to a first time difference range of acoustic wave signals received by the first acoustic emission probe and the second acoustic emission probe, and the second distance difference range is determined according to a second time difference range of acoustic wave signals received by the first acoustic emission probe and the second acoustic emission probe.

[0012] Optionally, when the acoustic emission detection unit includes three acoustic emission probes, the three acoustic emission probes are respectively a third acoustic emission probe, a fourth acoustic emission probe and a fifth acoustic emission probe; the process of determining the suspected defect area by the three-point positioning method is: selecting two groups of acoustic emission probes from the third acoustic emission probe, the fourth acoustic emission probe and the fifth acoustic emission probe, each group of acoustic emission probes includes two acoustic emission probes from the third acoustic emission probe, the fourth acoustic emission probe and the fifth acoustic emission probe, and the selected two groups of acoustic emission probes are respectively a first group of acoustic emission probes and a second group of acoustic emission probes; the intersection area of ​​the third hyperbolic area formed by the third distance difference range of the acoustic emission signals received by the first group of acoustic emission probes and the fourth hyperbolic area formed by the fourth distance difference range of the acoustic emission signals received by the second group of acoustic emission probes is taken as the suspected defect area; the third distance difference range is determined according to the third time difference range of the acoustic emission signals received by the first group of acoustic emission probes; the fourth distance difference range is determined according to the fourth time difference range of the acoustic emission signals received by the second group of acoustic emission probes.

[0013] Optionally, the motion module includes a walking component, and the walking component is at least one of a track type, a universal wheel and a Mecanum wheel.

[0014] Optionally, the motion module further includes a positioning unit, and the positioning unit includes at least one of acoustic positioning and radar positioning.

[0015] In the second aspect, the present application provides a tank bottom plate corrosion detection method, which is applied to the tank bottom plate corrosion detection robot, and the tank bottom plate corrosion detection method includes: the detection module determines the suspected defect area on the tank bottom plate through acoustic emission detection, and performs ultrasonic scanning on the suspected area through ultrasonic detection; when the detection module determines the suspected defect area, the control module controls the motion module to move to the suspected defect area, and locates the defect area according to the ultrasonic scanning results.

[0016] According to the specific embodiments provided in the present application, the present application discloses the following technical effects: the present application provides a tank bottom corrosion detection robot and detection method, which integrates acoustic emission detection and ultrasonic detection through the detection module, first quickly determines the suspected defect area, and then accurately locates it through ultrasonic detection, thereby improving the detection efficiency and solving the problem of not being able to achieve full coverage detection of the tank bottom. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 This is a schematic diagram of the structure of a tank bottom corrosion detection robot in one embodiment of the present application.

[0019] Figure 2 This is a schematic diagram of a first arrangement of acoustic emission probes provided in one embodiment of the present application.

[0020] Figure 3 This is a schematic diagram of a second arrangement of acoustic emission probes provided in one embodiment of the present application.

[0021] Figure 4 This is a schematic diagram of a third arrangement of acoustic emission probes provided in one embodiment of the present application.

[0022] Figure 5 A schematic diagram of a hyperbolic area formed by a distance difference range between two acoustic emission probes receiving acoustic wave information of a defect area provided in an embodiment of the present application.

[0023] Figure 6 A schematic diagram of the dual-point positioning principle provided in one embodiment of the present application.

[0024] Figure 7 A schematic diagram of the three-point positioning principle provided in one embodiment of the present application.

[0025] Figure numerals: 1-vehicle frame, 2-retractable module, 3-control module, 4-detection module, 5-motion module, 41-acoustic emission probe, 42-ultrasonic detection unit, 43-ultrasonic probe. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0027] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0028] The present application provides a tank bottom corrosion detection robot, such as Figure 1 As shown, the tank bottom corrosion detection robot includes: a motion module 5, a detection module 4 and a control module 3, wherein the motion module 5 and the detection module 4 are both connected to the control module 3; the motion module 5 is used to carry the detection module 4 to move on the tank bottom plate; the detection module 4 is used to determine the suspected defect area on the tank bottom plate through acoustic emission detection, and to perform ultrasonic scanning on the suspected area through ultrasonic detection; the control module 3 is used to control the motion module 5 to move to the suspected defect area after the detection module 4 determines the suspected defect area, and locate the defect area according to the ultrasonic scanning result.

[0029] The tank bottom corrosion detection robot also includes a host computer, a frame 1, a retractable module 2 and an explosion-proof part. The host computer is connected to the control module, and the control module is controlled by the host computer.

[0030] The motion module 5 , the detection module 4 , the control module 3 and the explosion-proof part are all integrated into the vehicle frame 1 , and are all supported by the vehicle frame 1 .

[0031] The detection module 4 is located at the bottom of the frame 1, close to the object to be detected. The detection module 4 is connected to the control module 3, and the control module 3 controls the start and stop of the detection module 4. The control module 3 is usually located inside the frame 1, and is connected to the drive motor and the detection module 4. The retractable module 2 is connected to the frame 1, and is used to put the robot into the storage tank or retract the robot from the storage tank. The retractable module 2 is connected to the host computer, and the retractable module 2 is controlled by the host computer.

[0032] The detection module 4 includes an acoustic emission detection unit, an ultrasonic detection unit 42 and a signal receiving component. The ultrasonic detection unit 42 includes an array-arranged ultrasonic probe 43. Figure 2 As shown, the acoustic emission detection unit includes two or three acoustic emission probes 41, and each acoustic emission probe 41 is set to the two ends of the ultrasonic detection unit 42; the signal receiving component is used to receive the ultrasonic signals received by each ultrasonic probe 43 and the sound wave signals received by the acoustic emission probe 41.

[0033] When the acoustic emission detection unit includes two acoustic emission probes 41, the principle of arranging the acoustic emission probes 41 is that the two acoustic emission probes 41 are closely attached to the ultrasonic detection unit 42 and are arranged at a long distance. The first arrangement of the acoustic emission probes 41 is as follows: Figure 2 As shown, the two acoustic emission probes 41 are respectively located on the outside of the ultrasonic probe 43 on the diagonal line of the ultrasonic probe 43 arranged in an array; the second arrangement of the acoustic emission probe 41 is as follows Figure 3 As shown, the two acoustic emission probes 41 are respectively located at the two ends (the two ends of the long side) of one side of the array-arranged ultrasonic probe 43. When the acoustic emission detection unit includes three acoustic emission probes 41, the arrangement principle is that the three acoustic emission probes 41 are arranged close to the ultrasonic detection unit 42 and as far away as possible. The third arrangement method of the acoustic emission probes 41 is as follows Figure 4 As shown, three acoustic emission probes 41 are arranged along the ultrasonic detection unit 42 to form a maximum right-angled triangle.

[0034] The present application is characterized in that the acoustic emission detection unit and the ultrasonic detection unit 42 use a single signal receiving component. The acoustic emission probe 41 and the ultrasonic probe 43 both receive signals, so the use of a single signal receiving component is to use such an integrated single detection component to achieve signal collection.

[0035] The present application integrates the acoustic emission detection unit and the ultrasonic detection unit 42 to minimize the size while ensuring the detection function, so that the size of the entire robot can be as small as possible. In addition to the arrangement method, the highly integrated method uses the same broadband signal receiver to receive the signal, and performs nonlinear data processing after signal denoising, feature signal extraction, and normalization, so that the broadband signal receiver can simultaneously receive and process ultrasonic and acoustic emission signals.

[0036] The control module 3 also includes a detection module control unit, which is used to control the switching and start and stop of the detection module 4. The switching of the detection module 4 is achieved by controlling the start and stop of the signal receiving component.

[0037] The explosion-proof part makes the entire detection robot meet certain explosion-proof level requirements.

[0038] The control module 3 includes a signal processing component, which is connected to the signal receiving component. The signal processing component is used to collect the ultrasonic signal and the sound wave signal received by the signal receiving component.

[0039] The function of the signal processing component is to collect data and transmit the data to the memory on the Advanced RISC Machines (ARM), where the signal processing component further processes the data.

[0040] The control module 3 further includes a positioning analysis unit, which is used to determine a suspected defect area according to the time difference between the times when each acoustic emission probe 41 receives the acoustic wave signal.

[0041] The control module is also used to control the motion module to move the detection module to the suspected defect area after determining the suspected defect area, and then plan the scanning path of the suspected defect area, and use the ultrasonic detection unit to scan the suspected defect area point by point based on the path planning to achieve defect location.

[0042] The time difference between the two acoustic emission probes receiving signals is measurable and fixed (the distance difference is fixed), so the suspicious point position is a hyperbola with a fixed distance difference to the two acoustic emission probes. Considering the uncertainty caused by signal noise, the time difference is not a fixed value, but a range. According to the boundary conditions, a hyperbola area can be formed, such as Figure 5 shown.

[0043] When the acoustic emission detection unit includes two acoustic emission probes 41, the positioning analysis unit is used to determine the suspected defect area on the tank bottom plate by a dual-point positioning method based on the time difference between the two acoustic emission probes receiving the acoustic wave signals.

[0044] When the acoustic emission detection unit includes three acoustic emission probes 41, the positioning analysis unit is used to determine the suspected defect area on the tank bottom plate by a three-point positioning method based on the time difference of the three acoustic emission probes receiving the sound wave signals.

[0045] If there are two intersecting areas, the signal energy detected by the three acoustic emission probes is used to determine the distance between the defect and the three acoustic emission probes. Since the signal is attenuated during propagation, the probe with greater energy is closer to the defect. According to the above rules, determine which of the intersecting areas is the most likely area.

[0046] When the acoustic emission detection unit includes two acoustic emission probes 41, the two acoustic emission probes 41 are respectively a first acoustic emission probe and a second acoustic emission probe; the suspected defect area determined by the dual-point positioning method is the intersection area of ​​the first hyperbolic area and the second hyperbolic area; the first hyperbolic area is a hyperbolic area formed by a first distance difference range of acoustic wave signals received by the first acoustic emission probe and the second acoustic emission probe when the detection module is in the first position; the second hyperbolic area is a hyperbolic area formed by a second distance difference range of acoustic wave signals received by the first acoustic emission probe and the second acoustic emission probe when the detection module is in the second position; the first distance difference range is determined according to a first time difference range of acoustic wave signals received by the first acoustic emission probe and the second acoustic emission probe, and the second distance difference range is determined according to a second time difference range of acoustic wave signals received by the first acoustic emission probe and the second acoustic emission probe.

[0047] When the acoustic emission detection unit includes three acoustic emission probes 41, the three acoustic emission probes 41 are respectively a third acoustic emission probe, a fourth acoustic emission probe and a fifth acoustic emission probe;

[0048] The process of determining the suspected defect area by the three-point positioning method is as follows: two groups of acoustic emission probes are selected from the third acoustic emission probe, the fourth acoustic emission probe and the fifth acoustic emission probe, each group of acoustic emission probes includes two acoustic emission probes from the third acoustic emission probe, the fourth acoustic emission probe and the fifth acoustic emission probe, only one acoustic emission probe is the same in the two groups of acoustic emission probes, and the selected two groups of acoustic emission probes are the first group of acoustic emission probes and the second group of acoustic emission probes. For example, the first group of acoustic emission probes is the third acoustic emission probe and the fourth acoustic emission probe, and the second group of acoustic emission probes is the third acoustic emission probe and the fifth acoustic emission probe; the intersection of the third hyperbolic area formed by the third distance difference range of the acoustic wave signal received by the first group of acoustic emission probes and the fourth hyperbolic area formed by the fourth distance difference range of the acoustic wave signal received by the second group of acoustic emission probes is used as the suspected defect area; the third distance difference range is determined according to the third time difference range of the acoustic wave signal received by the first group of acoustic emission probes; the fourth distance difference range is determined according to the fourth time difference range of the acoustic wave signal received by the second group of acoustic emission probes.

[0049] The motion module 5 realizes the motion function of the entire robot. The motion module 5 is divided into two parts, which are respectively located on both sides of the frame 1. The motion module 5 is a wheeled structure. The motion module 5 includes a drive motor, which is connected to the control module 3. The control module 3 controls the drive motor, thereby realizing the control of the motion module 5.

[0050] The motion module 5 includes a walking component, and the walking component is at least one of a crawler type, a universal wheel and a Mecanum wheel.

[0051] The motion module 5 further includes a positioning unit, and the positioning unit includes at least one of acoustic positioning and radar positioning.

[0052] The present application utilizes a detection module 4 that integrates acoustic emission detection and ultrasonic detection to quickly detect tank bottom corrosion, thereby realizing rapid tank bottom corrosion detection without opening the tank.

[0053] In actual application, the robot is first controlled to be in a stationary state through the control module 3, and the acoustic emission detection unit is started. The defect suspected area is determined according to the acoustic wave signal received by the acoustic emission probe 41. When there are two acoustic emission probes 41, when they are in the first position, the first hyperbolic area is determined according to the distance difference range of the received acoustic wave information, and then the motion module is controlled to move to the second position through the control module, and then the second hyperbolic area is determined according to the distance difference range of the received acoustic wave information. The defect suspected area is determined according to the intersection area of ​​the first hyperbolic area and the second hyperbolic area, such as Figure 6 As shown, both area A and area B are suspected defect areas. When there are three acoustic emission probes 41, the intersection area of ​​two hyperbolic areas determined by two groups of acoustic emission probes is determined as the suspected defect area, such as Figure 7 As shown, both area C and area D are suspected defect areas. When there are three acoustic emission probes 41, there is no need to move the position of the detection module 4 during the acoustic emission probe detection process. When the suspected defect area is determined, the robot is controlled by the control module 3 to move the robot and navigate it into the suspected defect area. The ultrasonic detection unit 42 is started to perform a fine scan in the suspected defect area to find defects. The robot scans point by point in the suspected defect area, and the scanning path needs to be planned in advance to ensure that all suspected areas are covered.

[0054] This application first uses acoustic emission to quickly locate the corrosion area, and then uses ultrasound for fine scanning to achieve rapid detection of corrosion defects. The design of the robot carrying the detection module into the tank body for detection makes it possible to detect without opening the tank. At the same time, the detection method of acoustic emission rapid corrosion area screening + ultrasonic fine scanning is selected to achieve rapid, efficient and accurate detection in oil. At the same time, the receiving signals of acoustic emission and ultrasound are both acoustic signals, which can effectively integrate the two modules, reduce the size of the module, and achieve lightweight detection, which is beneficial to the motion control of the robot in oil.

[0055] In an exemplary embodiment, a tank bottom corrosion detection method provided by the present application is applied to the tank bottom corrosion detection robot, and the tank bottom corrosion detection method includes: a detection module determines a suspected defect area on the tank bottom plate through acoustic emission detection, and ultrasonically scans the suspected area through ultrasonic detection. After the detection module determines the suspected defect area, the control module controls the motion module to move to the suspected defect area, and locates the defect area according to the ultrasonic scanning result.

[0056] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0057] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application. At the same time, for those skilled in the art, according to the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A tank bottom corrosion detection robot, characterized in that: The tank bottom corrosion detection robot comprises: a motion module, a detection module and a control module, wherein the motion module and the detection module are both connected to the control module; the motion module is used to carry the detection module to move on the tank bottom; the detection module is used to determine the suspected defect area on the tank bottom by acoustic emission detection, and to perform ultrasonic scanning on the suspected area by ultrasonic detection; the control module is used to control the motion module to move to the suspected defect area after the detection module determines the suspected defect area, and locate the defect area according to the ultrasonic scanning result; The detection module includes an acoustic emission detection unit, an ultrasonic detection unit and a signal receiving component, wherein the ultrasonic detection unit includes ultrasonic probes arranged in an array, and the acoustic emission detection unit includes two or three acoustic emission probes, each of which is arranged at both ends of the ultrasonic detection unit; the signal receiving component is used to receive the ultrasonic signals received by each ultrasonic probe and the sound wave signals received by the acoustic emission probe; The control module also includes a positioning analysis unit, which is used to determine the suspected defect area according to the time difference of each acoustic emission probe receiving the acoustic wave signal; When the acoustic emission detection unit includes two acoustic emission probes, the positioning analysis unit is used to determine the suspected defect area on the bottom plate of the tank by a double-point positioning method based on the time difference between the two acoustic emission probes receiving the acoustic wave signals; When the acoustic emission detection unit includes three acoustic emission probes, the positioning analysis unit is used to determine the suspected defect area on the tank bottom plate by a three-point positioning method based on the time difference of the three acoustic emission probes receiving the sound wave signals.

2. The tank bottom corrosion detection robot according to claim 1 is characterized in that: When the acoustic emission detection unit includes two acoustic emission probes, the two acoustic emission probes are respectively a first acoustic emission probe and a second acoustic emission probe; the suspected defect area determined by the dual-point positioning method is the intersection area of ​​the first hyperbolic area and the second hyperbolic area; the first hyperbolic area is a hyperbolic area formed by a first distance difference range of acoustic wave signals received by the first acoustic emission probe and the second acoustic emission probe when the detection module is in the first position; the second hyperbolic area is a hyperbolic area formed by a second distance difference range of acoustic wave signals received by the first acoustic emission probe and the second acoustic emission probe when the detection module is in the second position; the first distance difference range is determined according to a first time difference range of acoustic wave signals received by the first acoustic emission probe and the second acoustic emission probe, and the second distance difference range is determined according to a second time difference range of acoustic wave signals received by the first acoustic emission probe and the second acoustic emission probe.

3. The tank bottom corrosion detection robot according to claim 1 is characterized in that: When the acoustic emission detection unit includes three acoustic emission probes, the three acoustic emission probes are respectively a third acoustic emission probe, a fourth acoustic emission probe and a fifth acoustic emission probe; The process of determining the suspected defect area by the three-point positioning method is as follows: two groups of acoustic emission probes are selected from the third acoustic emission probe, the fourth acoustic emission probe and the fifth acoustic emission probe, each group of acoustic emission probes includes two acoustic emission probes from the third acoustic emission probe, the fourth acoustic emission probe and the fifth acoustic emission probe, and the selected two groups of acoustic emission probes are respectively the first group of acoustic emission probes and the second group of acoustic emission probes; the intersection area of ​​the third hyperbolic area formed by the third distance difference range of the acoustic wave signal received by the first group of acoustic emission probes and the fourth hyperbolic area formed by the fourth distance difference range of the acoustic wave signal received by the second group of acoustic emission probes is taken as the suspected defect area; the third distance difference range is determined according to the third time difference range of the acoustic wave signal received by the first group of acoustic emission probes; the fourth distance difference range is determined according to the fourth time difference range of the acoustic wave signal received by the second group of acoustic emission probes.

4. The tank bottom corrosion detection robot according to claim 1 is characterized in that: The motion module includes a walking component, and the walking component is at least one of a crawler type, a universal wheel and a Mecanum wheel.

5. The tank bottom corrosion detection robot according to claim 1, characterized in that: The motion module further includes a positioning unit, and the positioning unit includes at least one of acoustic positioning and radar positioning.

6. A method for detecting corrosion of a tank bottom plate, characterized in that: The tank bottom plate corrosion detection method is applied to the tank bottom plate corrosion detection robot according to any one of claims 1 to 5, and the tank bottom plate corrosion detection method comprises: The detection module determines the suspected defect area on the bottom plate of the tank through acoustic emission detection, and performs ultrasonic scanning on the suspected area through ultrasonic detection; After the detection module determines the suspected defect area, the control module controls the movement module to move to the suspected defect area and locates the defect area according to the ultrasonic scanning result.

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